这项工作是由汉城脑聚变计划国立大学（800-20120444）和跨学科研究倡议计划从工程和医学院，首尔国立大学（800-20150090）学院的支持。

所有的程序进行审查，并由首尔大学医院的机构审查委员会批准。 1.镜治疗任务<ol><li>的2维镜疗法任务的示例（ 图3） <ol><li>而在照镜子的热身运动约5分钟自由移动健康手臂。 注意:一个可以利用一个节拍器，使病人可以行使健康臂的运动以有节奏的方式。 </li><li>在健侧，运球并放置一个小球变成类似台球约5分钟（"球在洞"任务）所选择的洞。运球并放置一个小球变成类似足球约5分钟（"足球游戏"任务）的目标。 </li><li>利用放置在桌面上的编号贴纸，移动对健康侧的手柄以数字顺序，并在反方向返回（"点跟踪"的任务）。重复约5分钟。 </li><li>在日常生活中，如AC使用任何对象起来，在用健侧把手，把它推到一个选定的地方（"移动杯"任务）。重复约5分钟。 </li></ol></li></ol> 2.镜机器人系统的组成<ol><li> AHRS传感器设置<ol><li>获得3市售AHRS的传感器。 注:AHRS传感器由磁传感器，加速度计，陀螺仪和传感器（共9个轴）。 </li><li>在AHRS传感器连接到带有USB接口的PC。 </li><li>使用超级终端或其它通讯软件来配置一般的传感器设置。 </li><li>对于每个AHRS传感器，设置为RS232通讯并选择COM端口。然后，波特率设置为每秒115,200位，数据位为8，奇偶校验为无，停止位为1，流量控制为无。 <ol><li>要检查COM端口，点击左下角的主页按钮。右键点击电脑上。然后单击属性。单击设备管理器。通过单击展开端口（COM和LPT）选项卡。 </li></ol></li><li>一旦COMMunication已经建立，设置信道100和分配ID为每个传感器。 注意:有些传感器可能需要加速度计，陀螺仪，磁力计和校正后使用。 </li><li>设置输出格式为四元数和组传感器显示的电池储备。 注:四元被用来加快计算以及消除万向节锁定奇点。 </li></ol></li><li>直流无刷电机的设置<ol><li>准备2高性能直流无刷电机及控制器。 </li><li>每个控制器，将电源线连接到电源。此外，电机电缆，霍尔传感器电缆和编码器电缆连接到电机。 </li><li> CAN-CAN电缆连接到另一个控制器。 注:CANopen总线，用于设备之间的通信。 </li><li>对于每个控制器设备之间的区分集节点ID。 </li><li>将USB电缆连接到PC的一般配置。 </li><li>接通电源到CONTRO电列尔斯和电机。 </li><li>使用电机制造商提供的系统配置软件配置和调节电机，霍尔传感器和编码器。 注:角度限制和位置必须配置为安全运行。 </li></ol></li><li>框架和马达组件 注:每个定制的部分是在引号命名。请参阅材料与设备的表和从图4至图13。 <ol><li>对于肘关节电机，将接头机构之一带键槽的电机轴用M5内六角螺钉（ 图4）固定。 </li><li>安全"弯头耦合中空圆筒罩"使用4倍的M5六角头螺丝（10mm）的肘部马达并将联接器的缓冲部分（中间滑块部分）上附着在步骤2.3.1接头主体的顶（ 图4）。 </li><li>塞球轴承为"肘屋顶架"与4倍M4六角头螺丝（8 MM）（ 图5）将其固定。 </li><li>插上"肘电机力量分散轴"为"下肘支撑"，并与4倍M3六角头螺丝（6毫米）固定。然后，将"上肘支撑"上的"下肘支撑"的顶部，并使用8X M3六角头螺丝（12mm）中（ 图6）固定。 </li><li>放置组件放在上面，组装在步骤2.3.3在中间，并且在接头主体的底部的最后一部分步骤2.3.4。一起加入，并与M5内六角螺丝（10毫米）（ 图7）固定联结体。 </li><li>安全组件在步骤2.3.5和装配在步骤2.3.2采用4 M5六角头螺丝（15毫米）（ 图7）。在步骤2.3.2旋转组件，以确保所有的4分。 </li><li>安全"下的手腕联结的空心筒盖"使用4X M4六角头螺丝（10mm）的手腕马达。然后，将一带键槽电机轴耦合机构和使用M4内六角螺丝固定;然后，放置在接头主体的顶部的联接器（ 图8）的缓冲部。 </li><li>附加"摩擦减少环"上的"手腕屋顶框架"用双面胶带或任何类型的粘合剂（ 图9）的顶部。 </li><li>插上"手腕马达力分散轴"为"处理"，用4倍M2.5六角螺栓（4mm）（ 图10）将其固定。 </li><li>放置组件放在上面，组装在步骤2.3.8在中间，并且在接头主体的底部的最后一部分步骤2.3.9。一起加入，并与M4内六角螺丝（10毫米）（ 图10）固定联结体。 </li><li>采用4 M3六角头螺丝（ 图11）在步骤2.3.10安全"手腕motor2roof2"与大会。 </li><li>安全装配步骤2.3.11和装配步骤2.3.7我们ING 4X M3六角头螺丝（15毫米）（ 图11）。 </li><li>安全2"联合限运动"，并采用4 M4六角头螺丝（15毫米）（ 图 12A）2轴衣领。 </li><li>使用固定环固定轴，并使用8X M3六角头螺丝（8 MM）（ 图12B）"腕屋顶框架"。 </li><li>滑动总成2.3.13轴环到轴装配2.3.14，并以"下肘支撑"采用4 M4六角头螺丝（15毫米），争取更多的轴环。然后，加入两部分，并与控制杆（ 图13A）固定。 </li><li>使用6X M4六角头螺丝（15毫米）（ 图 13B）安全"的支持墙"到组装步骤2.3.15。安全步骤2.3.16表立场和装配使用6X M6六角头螺丝（15毫米）（ 图13C）。 </li></ol></li></ol> 3.镜子罗布设计OT系统<ol><li>自动控制数学模型<ol><li>上肢运动的自动控制设置动态模型（ 图14）。 注:人体上肢运动的动力学模型可以用关节和链接的运动来表达。因此，使用等式为机器人操作，可以如以下所示得到的造型: <img alt="式（1）" src="/files/ftp_upload/54521/54521eq1.jpg" /> 注意: （ <img alt="公式（2）" src="/files/ftp_upload/54521/54521eq2.jpg" /> :关节位置矢量， <img alt="公式3" src="/files/ftp_upload/54521/54521eq3.jpg" /> :关节的速度矢量， <img alt="公式4" src="/files/ftp_upload/54521/54521eq4.jpg" /> :联合加速度矢量，H:惯性矩阵，F:科氏力和离心力矩阵，G:重力，E矢量:转矩矩阵由于与环境的相互作用， <img alt="式（1）" src="/files/ftp_upload/54521/54521eq5.jpg" /> :广义FORC矢量<html>适用于关节ES）的偏瘫和运动的健康臂展的不同方面。也就是说，偏瘫臂不能在一次移动由于瘫痪肌肉或不能提供所需要的运动足够的转矩。因此，该系统被设计为使得康复训练可以经由通过偏瘫臂正常运动来完成;换言之，恢复机器人附连到病人的偏瘫臂以从健康臂传递运动，并且可以简单地配制如下: （偏瘫手臂运动） - 康复机器人）=（健康手臂的运动）的运动。 </li><li>与康复机器人，患者的麻痹臂连接到操纵器，并观察附加力矩和延时由于瘫痪臂引起整个系统的错误。通过对偏瘫侧操纵检测这一点。 </li><li>测量误差（S（t）为跟踪误差）作为一个数学方程: ES / ftp_upload / 54521 / 54521eq6.jpg"/&gt; 注:（S:跟踪误差， <img alt="公式7" src="/files/ftp_upload/54521/54521eq7.jpg" /> :正定的设计参数矩阵， <img alt="式（8）" src="/files/ftp_upload/54521/54521eq8.jpg" /> :预期与实际位置之间的错误， <img alt="式（1）" src="/files/ftp_upload/54521/54521eq9.jpg" /> :期望和实际速度）上述跟踪误差可以与人类上肢运动的动态模型被组合和间的误差可表示为: <img alt="10式" src="/files/ftp_upload/54521/54521eq10.jpg" /> 注:（K D:用随时间变化反馈补偿微分增益值， <img alt="11式" src="/files/ftp_upload/54521/54521eq11.jpg" /> :惯性误差矩阵， <img alt="12式" src="/files/ftp_upload/54521/54521eq12.jpg" /> :科氏力和离心力误差矩阵） </li><li>为了控制康复机器人的每一个关节，使用LAGRangian动力学8。运动的每个关节的动态方程为: <img alt="13式" src="/files/ftp_upload/54521/54521eq13.jpg" /> 注:（D:系数矩阵， <img alt="14式" src="/files/ftp_upload/54521/54521eq14.jpg" /> :上述公式中执行机构惯性矩阵）系数D会影响关节的关节8之间的惯性耦合效应之间的扭矩。使用该数学模型的自动控制模型可以通过图14中的块方案进行说明。 </li></ol></li><li>软件协议（ 图15） <ol><li>当程序启动时，建立与电机和传感器通信，并且初始化值。一旦马达和传感器是在初始位置（参见4.1.3），移动到主循环。 注:主回路的采样频率，我们建议50 - 200样本/秒。对于最大延迟，我们建议2秒最多。另外，对于转矩限制，我们推荐以调节与软件的电动机电流值，以使肘马达可以施加25 - 40牛顿和手腕马达可以施加10 - 20牛顿米。 </li><li>由于它不是由一个停止按钮中断，连续读取的姿态和航向参考系统（AHRS）传感器的当前位置值，这些值传送到电机。 注:数据输出是在四元，并应适当转化为机器人的运动所需的角度。选择传感器的一个坐标的帧作为参考，并重置另一个传感器坐标帧。以计算出的帧作为参考，使用逆运动学，得到最终的输出偏转角。 </li><li>因为它不是由一个停止按钮中断，连续地检查电动机的立场和更新的值来完成的运动由AHRS传感器提供的所希望的位置。 注:马达位置由可在软件内与电机公司＆＃检查电机的编码器提供39; S提供的软件库命令。 </li><li>同时，记录从AHRS传感器各个角度和角速度。 </li><li>一旦任务完成，并在用户按下停止按钮时，退出该环路，并通过将其移动到初始位置完成机器人。 </li></ol></li><li>图形用户界面（GUI）（ 图16） <ol><li>添加"错误"，并在执行过程中，"错误输出"功能检测和调试错误。 </li><li>添加病人侧按钮选择机器人操作方（患者的麻痹侧）。 </li><li>构造一个病人信息框来识别患者。 </li><li>加入运动状态指示灯。 </li><li>添加角度限制控件的安全性。 </li><li>配置的最大速度，加速度和减速度对每个马达，以防止肌肉和肌腱损伤因僵硬上肢。 注:系统反映了偏瘫手臂的加速和减速。 </li><li>一个DD指标检索马达的位置和速度，以及输入电流信息。 </li><li>构建VISA资源名称的控制，建立AHRS传感器与系统之间的通信。 </li><li>添加校准功能，以消除累积的传感器漂移误差。 </li><li>安排传感器的指示器，以便检索传感器信息。 注:该传感器信息包括关节角度（连续两个传感器之间的夹角）和备用电池。 </li></ol></li><li>镜子机器人操作过程中克服手臂痉挛<ol><li>选择能够发挥足够的扭矩来克服痉挛每个关节电机。 注:手腕电机必须扭矩输出超过10牛米高，和肘部电机高出25牛米。 </li><li>为了将机器人运动牢牢传送到病人的手臂，使用由半弹性材料制成的固定在机器人外骨骼的前臂肩带。 注:半松紧带，如伸缩^ h布带或涤纶/尼龙弹性编织带，建议。如果条带太弹性，它不会保持在适当位置的臂。如果带子是不弹性可言，可以以高度弯头痉挛的情况下发生的肌肉或肌腱损伤。 </li><li>为了分离肘和手腕的运动，使用2与轴环组合固体帧由帧挤压它固定在手腕上。 注:轴环用于防止肌肉和肌腱损伤如果在手腕上的刚性过高。 </li><li>使用手柄围绕绑带的手固定到机器人。 </li></ol></li></ol> 4.镜机器人系统的临床应用<ol><li>开展机器人镜治疗<ol><li>调整高度和任务表的宽度根据病人的状况。 </li><li>设置镜像双臂之间的中线，并将它放在桌面或平台。 </li><li>放置在手柄，手腕AHRS传感器帧，并在与该机器人的方向平行健侧对准平台的边缘。 注:该传感器内部的偏航轴线应朝上。 </li><li>在计算机执行的疗法的软件。 </li><li>通过点击患者侧开关按钮选择偏瘫侧。 </li><li>设置根据患者关节状况的最大接头角度限制。对于安全操作，用肘关节屈曲极限小于50度，肘关节伸直上限超过-70，屈腕限制小于80º，和手腕扩展限制超过-60。 注:加号和减号也可自动纠正和限制也如出界在软件层面上纠正。 </li><li>设定最大速度，加速度和减速度。对于这些值，使用0和22.5 rpm转速区间内速度值在0和33 rpm转速区间内肘电机和使用速度值手腕电机。 注:对于传统的理疗镜，将所有的值为零来固定机器人。 </li><li>填写患者信息。 </li><li>运行程序之前打开所有AHRS传感器。 </li><li>通过点击在节目的左上角的箭头按钮运行程序。 </li><li>一旦"另存为"的提示弹出，写上字符串框，然后按OK结果数据正确的文件名。 </li><li>而机器人和健康臂处于初始位置（双手离身体并相互平行）时，按校准按钮初始化传感器值为零的初始位置。 注:参见1.1.1步骤 - 1.1.4本任务中使用的手中。 </li><li>当所有任务都完成后按STOP按钮。 注:对于机器人镜子疗法，生物医学工程师应作为主要的协调者和职业治疗师应该帮助病人。 </li></ol></li><li>对健康受试者的临床研究<ol><li>开展关于健康受试者临床研究证实安全性和可行性8。给这个指令（"不要在自己的移动你的手臂偏瘫"）的科目偏瘫手臂完全被动运动。 </li><li>放置在把手上的框架两前臂和手。然后，用固定带前臂。 </li></ol></li><li>疗效评价<ol><li>治疗前，进行功能评估，如采用Fugl -梅耶评估量表9，改良Ashworth规模10，改良Barthel指数11，捷成手功能测验，手功率测量，半侧忽视测试和运动诱发电位测试的病人。 </li><li>开展中风病人的临床试验有2维镜机器人30 - 每天60分钟。给这个指令（"不要在自己的移动你的手臂偏瘫"），以病人。 </li><li>病人完成最后一次会议后，进行后续的功能评价。 </li></ol></li></ol>

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B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Interrater+reliability+of+a+modified+Ashworth+scale+of+muscle+spasticity.">Interrater reliability of a modified Ashworth scale of muscle spasticity.</a> Phys Ther. 67 (2), 206-207 (1987).</li><li>Shah, S., Vanclay, F., Cooper, B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Improving+the+sensitivity+of+the+Barthel+Index+for+stroke+rehabilitation.">Improving the sensitivity of the Barthel Index for stroke rehabilitation.</a> J Clin Epidemiol. 42 (8), 703-709 (1989).</li><li>Lo, A. C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+therapy+for+long-term+upper-limb+impairment+after+stroke.">Robot-assisted therapy for long-term upper-limb impairment after stroke.</a> N Engl J Med. 362 (19), 1772-1783 (2010).</li><li>Ho, N. S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=An+EMG-driven+exoskeleton+hand+robotic+training+device+on+chronic+stroke+subjects:+task+training+system+for+stroke+rehabilitation.">An EMG-driven exoskeleton hand robotic training device on chronic stroke subjects: task training system for stroke rehabilitation.</a> IEEE Int Conf Rehabil Robot. , 5975340 (2011).</li><li>Hesse, S., Schulte-Tigges, G., Konrad, M., Bardeleben, A., Werner, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+arm+trainer+for+the+passive+and+active+practice+of+bilateral+forearm+and+wrist+movements+in+hemiparetic+subjects.">Robot-assisted arm trainer for the passive and active practice of bilateral forearm and wrist movements in hemiparetic subjects.</a> Arch Phys Med Rehabil. 84 (6), 915-920 (2003).</li><li>Lum, P. S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=MIME+robotic+device+for+upper-limb+neurorehabilitation+in+subacute+stroke+subjects:+A+follow-up+study.">MIME robotic device for upper-limb neurorehabilitation in subacute stroke subjects: A follow-up study.</a> J Rehabil Res Dev. 43 (5), 631-642 (2006).</li><li>Yang, C. L., Lin, K. C., Chen, H. C., Wu, C. Y., Chen, C. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Pilot+comparative+study+of+unilateral+and+bilateral+robot-assisted+training+on+upper-extremity+performance+in+patients+with+stroke.">Pilot comparative study of unilateral and bilateral robot-assisted training on upper-extremity performance in patients with stroke.</a> Am J Occup Ther. 66 (2), 198-206 (2012).</li><li>Nef, T., Mihelj, M., Riener, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=ARMin:+a+robot+for+patient-cooperative+arm+therapy.">ARMin: a robot for patient-cooperative arm therapy.</a> Med Biol Eng Comput. 45 (9), 887-900 (2007).</li><li>Ozkul, F., Barkana, D. E., Demirbas, S. B., Inal, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Evaluation+of+proprioceptive+sense+of+the+elbow+joint+with+RehabRoby.">Evaluation of proprioceptive sense of the elbow joint with RehabRoby.</a> IEEE Int Conf Rehabil Robot. , 5975466 (2011).</li><li>Pehlivan, A. U., Celik, O., O'Malley, M. K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mechanical+design+of+a+distal+arm+exoskeleton+for+stroke+and+spinal+cord+injury+rehabilitation.">Mechanical design of a distal arm exoskeleton for stroke and spinal cord injury rehabilitation.</a> IEEE Int Conf Rehabil Robot. , 5975428 (2011).</li><li>Zhang, H., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Feasibility+studies+of+robot-assisted+stroke+rehabilitation+at+clinic+and+home+settings+using+RUPERT.">Feasibility studies of robot-assisted stroke rehabilitation at clinic and home settings using RUPERT.</a> IEEE Int Conf Rehabil Robot. , 5975440 (2011).</li></ol>

作者什么都没有透露。

本研究的主要目的是开发一偏瘫臂的功能恢复使用自动控制算法实时镜机器人系统。机器人辅助治疗对中风后上肢功能障碍长期复苏的影响在以往的研究证明12有益的，各种臂机器人相继出台13-20。但是，实现双侧臂移动上肢机器人的以前的研究应用的机械连接，而无需使用反射镜，它是由镜疗法14-15的概念不同。因此，我们的研究可通过使用实际镜，以促进本体输入一个?...

对于患有中风，半身不遂手臂功能障碍的破坏性影响。执行双手活动的能力，对于日常生活中必不可少的，但偏瘫手臂功能缺损中风发作后常保持甚至几年。在医院的各种培训课程，练习，以增加运动或被动重复范围的简单任务有一个偏瘫手臂功能的恢复影响不大。出于这个原因，涉及到日常生活（ADL的）活动有意义的任务的训练已被应用到职业治疗医院。 镜治疗的效果是由以前的研究在神经康复1-4证明。镜疗法可如同偏瘫臂实时移动而移动所述健康臂通过使用反射镜的引出一个假象进行。它可以通过感觉皮层1的活化促进脑神经可塑性。因此，MOTOř功率和​​偏瘫臂的功能可以得到改善。然而，传统的镜疗法具有严格的限制在于，偏瘫臂实际上没有移动。 因此，我们开发了一个实时的2轴镜机器人系统作为一个简单的附加模块常规理疗镜，采用闭环反馈机制。这可能传达本体输入到感觉皮层，这被认为在神经可塑性和偏瘫臂的功能恢复（ 图1和2）5-7重要。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>LabVIEW</td>
			<td>National Instruments</td>
			<td></td>
			<td>System design software</td>
		</tr>
		<tr>
			<td>24V power supply</td>
			<td>XP Power</td>
			<td>MHP1000PS24 24V</td>
			<td>Any 24V power supply should do</td>
		</tr>
		<tr>
			<td>AHRS sensor receiver</td>
			<td>E2box</td>
			<td>EBRF24GRCV</td>
			<td></td>
		</tr>
		<tr>
			<td>AHRS sensors</td>
			<td>E2box</td>
			<td>EBIMU-9DOFV2</td>
			<td>You will need total 3 sensors. Any AHRS sensors will do</td>
		</tr>
		<tr>
			<td>EC90 flat motor module</td>
			<td>Maxon</td>
			<td>323772 + 223094 + 453231</td>
			<td>Any geared motor with higher than 30Nm should do. (For our custom machined parts, you will need these particular flat motor and gear module, but the gear ratio and encoder may vary)&#160;</td>
		</tr>
		<tr>
			<td>EC45 flat motor module</td>
			<td>Maxon</td>
			<td>397172</td>
			<td>Any geared motor with higher than 10Nm should do (For our custom machined parts, you should use the same gear module but the gear ratio, motor, and encoder may vary)</td>
		</tr>
		<tr>
			<td>EPOS2 70/10 controller</td>
			<td>Maxon</td>
			<td>375711</td>
			<td>This can be replaced with EPOS 24/5 controller</td>
		</tr>
		<tr>
			<td>EPOS2 24/5 controller</td>
			<td>Maxon</td>
			<td>367676</td>
			<td></td>
		</tr>
		<tr>
			<td>Connector and cable set</td>
			<td>Maxon</td>
			<td>381405 + 384915 + 275934 + 354045</td>
			<td>You can also make these cables. Connectors and corresponding wire info can be found in &#34;300583-Hardware-Reference-En.pdf&#34; and &#34;300583-Cable-Starting-Set-En.pdf&#34;</td>
		</tr>
		<tr>
			<td>Coupling- Oldham, Set Screw Type</td>
			<td>Misumi</td>
			<td>MCORK30-10-12</td>
			<td>Type may vary</td>
		</tr>
		<tr>
			<td>Coupling- High Rigidity, Oldham, 
			Set Screw Type</td>
			<td>Misumi</td>
			<td>MCOGRK34-12-12</td>
			<td>Type may vary</td>
		</tr>
		<tr>
			<td>Shaft Collars</td>
			<td>Misumi</td>
			<td>SCWDM10-B &#160;</td>
			<td>You will need 4 sets</td>
		</tr>
		<tr>
			<td>Shaft Collars</td>
			<td>Misumi</td>
			<td>SDBJ10-8</td>
			<td>You will need 2 sets</td>
		</tr>
		<tr>
			<td>Precision Linear Shaft</td>
			<td>Misumi</td>
			<td>&#160;PSSFG10-200</td>
			<td>Any straight 10mm diameter shaft with at least 200mm length should do&#160;</td>
		</tr>
		<tr>
			<td>Bearings with housings</td>
			<td>Misumi</td>
			<td>BGRAB6801ZZ</td>
			<td></td>
		</tr>
		<tr>
			<td>Elbow motor force dispersion shaft&#160;</td>
			<td>custom machined</td>
			<td>3D CAD&#160;</td>
			<td></td>
		</tr>
		<tr>
			<td>Lower elbow support</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Elbow rooftop frame</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Support wall</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td>You will need 2 frames.</td>
		</tr>
		<tr>
			<td>Elbow coupling hollow cylinder cover&#160;</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Wrist motor force dispersion shaft</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Wrist rooftop frame</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Upper wrist coupling hollow cylinder cover</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Lower wrist coupling hollow cylinder cover</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Joint movement limiter</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Handle</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Upper elbow support</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Friction reduction ring</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Acrylic mirror</td>
			<td>custom laser cutting</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Task table</td>
			<td>custom machined</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Silicone sponge</td>
			<td></td>
			<td></td>
			<td></td>
		</tr>
		<tr>
			<td>DOF limiter</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>DOF limiter lid</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Healthyarm handle</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Ball rollers - Press fit</td>
			<td>Misumi</td>
			<td>BCHA18</td>
			<td></td>
		</tr>
		<tr>
			<td>Goalpost</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Circle trace</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
		<tr>
			<td>Angled assist</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td>Optional</td>
		</tr>
		<tr>
			<td>Curved assist</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td>Optional</td>
		</tr>
		<tr>
			<td>Plain assist</td>
			<td>3D printed</td>
			<td>Part Drawings</td>
			<td>Optional</td>
		</tr>
		<tr>
			<td>Task board</td>
			<td>custom laser cutting</td>
			<td>Part Drawings</td>
			<td></td>
		</tr>
	</tbody>
</table>

robotic mirror therapy system for functional recovery of hemiplegic arms

镜疗法已在临床环境中用于中风后偏瘫臂的功能恢复被执行作为有效的职业疗法。它是由仿佛偏瘫臂实时移动而移动所述健康臂通过使用反射镜的引出一个假象进行。它可以通过感觉运动皮层的活化有利于大脑可塑性。然而，传统的镜疗法具有严格的限制在于，偏瘫臂实际上没有移动。因此，我们开发了一种实时2轴镜机器人系统作为使用闭合反馈机制，其使得偏瘫臂的实时运动常规镜疗法的简单的附加模块。我们用了3姿态和航向参考系统传感器，2无刷直流电机的肘，腕关节，和外骨骼框架。在6名健康受试者的可行性研究，机器人镜治疗是安全可行的。我们进一步选择有用的任务傣族活动LY住在离康复医生通过反馈训练。一个慢性中风患者镜机器人系统的2周申请后显示，在采用Fugl-Meyer评分尺度和肘部屈肌痉挛的改善。机器人镜疗法可提高本体输入到感觉皮层，这被认为是在神经可塑性和偏瘫臂的功能恢复重要。本文中所呈现的镜像机器人系统可以很容易地开发并有效地利用推进职业治疗。

六名健康受试者进行的"笔标记任务&#39;（与附着在健康手笔触摸的两个小板交替， 如图17），10倍历时每个受试者平均106秒。没有观察到的不良事件，并且机器人镜疗法被证明是可行的。 此外，在康复医生的临床研究进行。我们请专家意见，以确定有效的机器人镜治疗职业相应的任务。从6康复医生反馈，错觉的镜...

Watch this Scientific Journal Video about Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms at JoVE.com

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

我们开发了一个实时镜机器人系统使用自动控制技术偏瘫手臂功能恢复，进行了健康受试者通过反馈康复医生的临床研究，并立志任务。这个简单的镜子机器人可有效地应用于职业治疗脑卒中患者用偏瘫臂。

机器人镜治疗系统偏瘫武器功能恢复

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is ...

robotic-mirror-therapy-system-for-functional-recovery-hemiplegic

Research

JoVE Journal

Bioengineering

15.4K 次观看.  Seoul National University College of Medicine. 我们开发了一个实时镜机器人系统使用自动控制技术偏瘫手臂功能恢复，进行了健康受试者通过反馈康复医生的临床研究，并立志任务。这个简单的镜子机器人可有效地应用于职业治疗脑卒中患者用偏瘫臂。 

视频: Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Robotic Production of Cancer Cell Spheroids with an Aqueous Two-phase System for Drug Testing

Cancer cell spheroids present a relevant in vitro model of avascular tumors for anti-cancer drug testing applications. A detailed protocol for producing both mono-culture and co-culture spheroids in a high throughput 96-well plate format is described in this work. This approach utilizes an aqueous two-phase system to confine cells into a drop of the denser aqueous phase immersed within the second aqueous phase. The drop rests on the well surface and keeps cells in close proximity to form a single spheroid. This technology has been adapted to a robotic liquid handler to produce size-controlled spheroids and expedite the process of spheroid production for compound screening applications. Spheroids treated with a clinically-used drug show reduced cell viability with increase in the drug dose. The use of a standard micro-well plate for spheroid generation makes it straightforward to analyze viability of cancer cells of drug-treated spheroids with a micro-plate reader. This technology is straightforward to implement both robotically and with other liquid handling tools such as manual pipettes.

A protocol for robotic printing of cancer cell spheroids in a high throughput 96-well plate format using an aqueous two-phase system is presented.

癌症细胞球体机器人生产与药物测试的双水相系统

Cancer cell spheroids present a relevant in vitro model of avascular tumors for anti-cancer drug testing applications. A detailed protocol for producing ...

科研

生物工程

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

This protocol describes a rod-based approach, combining 3D-printing and soft lithography techniques for fabricating the soft gripper devices. This approach eliminates the need for an external air source by incorporating a chamber component and reduces the chance of occlusion during the sealing process, particularly for miniaturized pneumatic channels.

娇嫩的组织操纵定制的软机器人气动设备手爪基于杆制造

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations ...

Automated Robotic Dispensing Technique for Surface Guidance and Bioprinting of Cells

This manuscript describes the introduction of cell guidance features followed by the direct delivery of cells to these features in a hydrogel bioink using an automated robotic dispensing system. The particular bioink was selected as it allows cells to sediment towards and sense the features. The dispensing system bioprints viable cells in hydrogel bioinks using a backpressure assisted print head. However, by replacing the print head with a sharpened stylus or scalpel, the dispensing system can also be employed to create topographical cues through surface etching. The stylus movement can be programmed in steps of 10 &#181;m in the X, Y and Z directions. The patterned grooves were able to orientate mesenchymal stem cells, influencing them to adopt an elongated morphology in alignment with the grooves&#39; direction. The patterning could be designed using plotting software in straight lines, concentric circles, and sinusoidal waves. In a subsequent procedure, fibroblasts and mesenchymal stem cells were suspended in a 2% gelatin bioink, for bioprinting in a backpressure driven extrusion printhead. The cell bearing bioink was then printed using the same programmed coordinates used for the etching. The bioprinted cells were able to sense and react to the etched features as demonstrated by their elongated orientation along the direction of the etched grooves.

This protocol describes a bioprinting methodology using an automated robotic depositing system that incorporates etched topographical guidance cues with the precision deposition of a cell bearing hydrogel bioink. The printed cells are directly delivered to the etched features and are able to sense and orientate with them.

自动点胶机器人技术在细胞表面和指导生物印刷

This manuscript describes the introduction of cell guidance features followed by the direct delivery of cells to these features in a hydrogel bioink using ...

Automated Robotic Liquid Handling Assembly of Modular DNA Devices

Recent advances in modular DNA assembly techniques have enabled synthetic biologists to test significantly more of the available &#34;design space&#34; represented by &#34;devices&#34; created as combinations of individual genetic components. However, manual assembly of such large numbers of devices is time-intensive, error-prone, and costly. The increasing sophistication and scale of synthetic biology research necessitates an efficient, reproducible way to accommodate large-scale, complex, and high throughput device construction.
Here, a DNA assembly protocol using the Type-IIS restriction endonuclease based Modular Cloning (MoClo) technique is automated on two liquid-handling robotic platforms. Automated liquid-handling robots require careful, often times tedious optimization of pipetting parameters for liquids of different viscosities (e.g. enzymes, DNA, water, buffers), as well as explicit programming to ensure correct aspiration and dispensing of DNA parts and reagents. This makes manual script writing for complex assemblies just as problematic as manual DNA assembly, and necessitates a software tool that can automate script generation. To this end, we have developed a web-based software tool, http://mocloassembly.com, for generating combinatorial DNA device libraries from basic DNA parts uploaded as Genbank files. We provide access to the tool, and an export file from our liquid handler software which includes optimized liquid classes, labware parameters, and deck layout. All DNA parts used are available through Addgene, and their digital maps can be accessed via the Boston University BDC ICE Registry. Together, these elements provide a foundation for other organizations to automate modular cloning experiments and similar protocols.
The automated DNA assembly workflow presented here enables the repeatable, automated, high-throughput production of DNA devices, and reduces the risk of human error arising from repetitive manual pipetting. Sequencing data show the automated DNA assembly reactions generated from this workflow are ~95% correct and require as little as 4% as much hands-on time, compared to manual reaction preparation.

Here, an automated workflow to perform modular DNA &#34;device&#34; assembly using a modular cloning DNA assembly method on liquid-handling robots is presented. The protocol uses an intuitive software tool for generating liquid handler picklists for combinatorial DNA device library generation, which we demonstrate using two liquid handling platforms.

模块化 DNA 设备的自动机器人液体处理组件

Recent advances in modular DNA assembly techniques have enabled synthetic biologists to test significantly more of the available &#34;design space&#34; ...

Synthesis of Cationized Magnetoferritin for Ultra-fast Magnetization of Cells

Many important biomedical applications, such as cell imaging and remote manipulation, can be achieved by labeling cells with superparamagnetic iron oxide nanoparticles (SPIONs). Achieving sufficient cellular uptake of SPIONs is a challenge that has traditionally been met by exposing cells to elevated concentrations of SPIONs or by prolonging exposure times (up to 72 hr). However, these strategies are likely to mediate toxicity. Here, we present the synthesis of the protein-based SPION magnetoferritin as well as a facile surface functionalization protocol that enables rapid cell magnetization using low exposure concentrations. The SPION core of magnetoferritin consists of cobalt-doped iron oxide with an average particle diameter of 8.2 nm mineralized inside the cavity of horse spleen apo-ferritin. Chemical cationization of magnetoferritin produced a novel, highly membrane-active SPION that magnetized human mesenchymal stem cells (hMSCs) using incubation times as short as one minute and iron concentrations as lows as 0.2 mM.

A protocol for the synthesis and cationization of cobalt-doped magnetoferritin is presented, as well as a method to rapidly magnetize stem cells with cationized magnetoferritin.

对细胞的超快磁化阳离子化Magnetoferritin的合成

Many important biomedical applications, such as cell imaging and remote manipulation, can be achieved by labeling cells with superparamagnetic iron oxide ...

3D Microtissues for Injectable Regenerative Therapy and High-throughput Drug Screening

To upgrade traditional 2D cell culture to 3D cell culture, we have integrated microfabrication with cryogelation technology to produce macroporous microscale cryogels (microcryogels), which can be loaded with a variety of cell types to form 3D microtissues. Herein, we present the protocol to fabricate versatile 3D microtissues and their applications in regenerative therapy and drug screening. Size and shape-controllable microcryogels can be fabricated on an array chip, which can be harvested off-chip as individual cell-loaded carriers for injectable regenerative therapy or be further assembled on-chip into 3D microtissue arrays for high-throughput drug screening. Due to the high elastic nature of these microscale cryogels, the 3D microtissues exhibit great injectability for minimally invasive cell therapy by protecting cells from mechanical shear force during injection. This ensures enhanced cell survival and therapeutic effect in the mouse limb ischemia model. Meanwhile, assembly of 3D microtissue arrays in a standard 384-multi-well format facilitates the use of common laboratory facilities and equipment, enabling high-throughput drug screening on this versatile 3D cell culture platform.

This protocol describes the fabrication of elastic 3D macroporous microcryogels by integrating microfabrication with cryogelation technology. Upon loading with cells, 3D microtissues are generated, which can be readily injected in vivo to facilitate regenerative therapy or assembled into arrays for in vitro high-throughput drug screening.

3D Microtissues 用于可注射再生疗法和高通量药物筛选

To upgrade traditional 2D cell culture to 3D cell culture, we have integrated microfabrication with cryogelation technology to produce macroporous ...

A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement

Pedicle screw implantation has excellent treatment effects and is often used by surgeons in spinal fusion surgery. However, due to the complexity of human body anatomy, this surgical procedure is difficult and challenging, especially in minimally invasive surgery or patients with congenital anomalies and kyphoscoliosis deformity. In addition to the abovementioned factors, the surgical experience and technique of the surgeon also affect the recovery rates and complications of the patients after the surgical operation. Therefore, accurately performing pedicle screw implantation has is a constant topic of common concern for surgeons and patients. In recent years, with the technological development, robot-assisted navigation systems have gradually become adopted. These robot-assisted navigation systems provide surgeons with complete preoperative planning before surgery. The system provides 3D reconstructed images of each vertebra, allowing surgeons to understand the patient&#39;s physiological characteristics more quickly. It also provides 2D images of sagittal, coronal, axial and oblique planes so that surgeons can accurately perform pedicle screw placement plan.
Previous studies have demonstrated the effectiveness of robot-assisted navigation systems for pedicle screw implantation procedures, including accuracy and safety assessments. This step-by-step protocol aims to outline a standardized surgical technique note for robotic-assisted pedicle screw placement.

This article presents a standardized surgical technique for robotic-assisted pedicle screw placement by using robotic-assisted navigational systems. We present a step-by-step protocol and describe the workflow and precautions of this procedure.

用于脚踏螺钉放置的脊柱机器人辅助导航系统

Pedicle screw implantation has excellent treatment effects and is often used by surgeons in spinal fusion surgery. However, due to the complexity of human ...

Manipulation of Single Neural Stem Cells and Neurons in Brain Slices using Robotic Microinjection

A central question in developmental neurobiology is how neural stem and progenitor cells form the brain. To answer this question, one needs to label, manipulate, and follow single cells in the brain tissue with high resolution over time. This task is extremely challenging due to the complexity of tissues in the brain. We have recently developed a robot, that guide a microinjection needle into brain tissue upon utilizing images acquired from a microscope to deliver femtoliter volumes of solution into single cells. The robotic operation increases resulting an overall yield that is an order of magnitude greater than manual microinjection and allows for precise labeling and flexible manipulation of single cells in living tissue. With this, one can microinject hundreds of cells within a single organotypic slice. This article demonstrates the use of the microinjection robot for automated microinjection of neural progenitor cells and neurons in the brain tissue slices. More broadly, it can be used on any epithelial tissue featuring a surface that can be reached by the pipette. Once set up, the microinjection robot can execute 15 or more microinjections per minute. The microinjection robot because of its throughput and versality will make microinjection a broadly straightforward high-performance cell manipulation technique to be used in bioengineering, biotechnology, and biophysics for performing single-cell analyses in organotypic brain slices.

This protocol demonstrates the use of a robotic platform for microinjection into single neural stem cells and neurons in brain slices. This technique is versatile and offers a method of tracking cells in tissue with high spatial resolution.

使用机器人微注射操作脑片中单神经干细胞和神经元

A central question in developmental neurobiology is how neural stem and progenitor cells form the brain. To answer this question, one needs to label, ...

Studying Cavitation Enhanced Therapy

Interest in the therapeutic applications of ultrasound is significant and growing, with potential clinical targets ranging from cancer to Alzheimer&#8217;s disease. Cavitation - the formation and subsequent motion of bubbles within an ultrasound field - represents a key phenomenon underpinning many of these treatments. There remains, however, considerable uncertainty regarding the detailed mechanisms of action by which cavitation promotes therapeutic effects and there is a need to develop reliable monitoring techniques that can be implemented clinically. In particular, there is significant variation between studies in the exposure parameters reported as successfully delivering therapeutic effects and the corresponding acoustic emissions. The aim of this paper is to provide design guidelines and an experimental protocol using widely available components for performing studies of cavitation-mediated bioeffects, and&#160;include real-time acoustic monitoring. It is hoped that the protocol will enable more widespread incorporation of acoustic monitoring into therapeutic ultrasound experiments and facilitate easier comparison across studies of exposure conditions and their correlation to relevant bio-effects.

The presented experimental protocol can be used to perform real time measurements of cavitation activity in a cell culture device with the aim of enabling investigation of the conditions required for successful drug delivery and/or other bioeffects.

研究屈化强化疗法

Interest in the therapeutic applications of ultrasound is significant and growing, with potential clinical targets ranging from cancer to ...

Functional Transcranial Doppler Ultrasound for Monitoring Cerebral Blood Flow

Functional transcranial Doppler ultrasound (fTCD) is the use of transcranial Doppler ultrasound (TCD) to study neural activation occurring during stimuli such as physical movement, activation of tactile sensors in the skin, and viewing images. Neural activation is inferred from an increase in the cerebral blood flow velocity (CBFV) supplying the region of the brain involved in processing sensory input. For example, viewing bright light causes increased neural activity in the occipital lobe of the cerebral cortex, leading to increased blood flow in the posterior cerebral artery, which supplies the occipital lobe. In fTCD, changes in CBFV are used to estimate changes in cerebral blood flow (CBF).
With its high temporal resolution measurement of blood flow velocities in the major cerebral arteries, fTCD complements other established functional imaging techniques. The goal of this Methods paper is to give step-by-step instructions for using fTCD to perform a functional imaging experiment. First, the basic steps for identifying the middle cerebral artery (MCA) and optimizing the signal will be described. Next, placement of a fixation device for holding the TCD probe in place during the experiment will be described. Finally, the breath-holding experiment, which is a specific example of a functional imaging experiment using fTCD, will be demonstrated.

Functional transcranial Doppler ultrasound complements other functional imaging modalities, with its high temporal resolution measurement of stimulus-induced changes in cerebral blood flow within the basal cerebral arteries. This Methods paper gives step-by-step instructions for using functional transcranial Doppler ultrasound to perform a functional imaging experiment.&#160;

功能颅内多普勒超声监测脑血流

Functional transcranial Doppler ultrasound (fTCD) is the use of transcranial Doppler ultrasound (TCD) to study neural activation occurring during stimuli ...